System and method for virtual transformation of standard or non-connected vehicles

ABSTRACT

In various embodiments, the present disclosure includes a system for reducing vehicular collisions having: (a) a vehicle comprising sensors, an acceleration system, a braking system, a processor, and memory; and (b) programs operatively coupled to the vehicle including: (1) a marking program configured to mark an outside vehicle as V2X or standard; (2) a reaction program configured to generate a signal in response to the mark, the signal being based on the mark.

PRIORITY CLAIM

This application is a continuation-in-part of U.S. patent applicationSer. No. 14/991,496, filed on Jan. 8, 2016, the entire contents of whichare each incorporated by reference herein.

TECHNICAL FIELD

This disclosure generally relates to systems and methods for avoidingtraffic collisions.

BACKGROUND

Newer vehicles are often configured to coordinate their motion throughelectronic communication technology. Older vehicles often lack suchcommunication technology. A problem is presented in that newer vehicleslack a mechanism for effectively coordinating with older vehicles.

SUMMARY

In various embodiments, the present disclosure includes a system forreducing vehicular collisions having: (a) a vehicle comprising sensors,an acceleration system, a braking system, a processor, and memory; and(b) programs operatively coupled to the vehicle including: (1) a markingprogram configured to mark an outside vehicle as V2X or standard; (2) areaction program configured to generate a signal in response to themark, the signal being based on the mark.

In various embodiments, the present disclosure includes a method ofreducing vehicular collisions with a vehicle having sensors, anacceleration system, a braking system, a processor, and memory,comprising: marking an outside vehicle as V2X or standard with a markingprogram, and generating a signal in response to the mark with a reactionprogram, the signal being based on the mark; wherein the marking programand the reaction program are operatively coupled to the vehicle.

In various embodiments, the present disclosure includes A system formarking vehicles comprising: a vehicle comprising sensors, anaccelerator, brakes, a processor, and memory; a marking programconfigured to: mark an outside vehicle as V2X or standard, measureposition of a marked standard vehicle, assign a confidence to themeasured position, compare the confidence to a threshold, transmit,based on the comparison, a supplemental position measurement request toan outside V2X vehicle.

A method of marking vehicles using a vehicle having sensors, anaccelerator, brakes, a processor, and memory, comprising: with a markingprogram running on the processor: marking an outside vehicle as V2X orstandard, measuring position of a marked standard vehicle, assigning aconfidence to the measured position, comparing the confidence to athreshold, transmitting, based on the comparison, a supplementalposition measurement request to an outside V2X vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the invention, reference may be made toembodiments shown in the following drawings. The components in thedrawings are not necessarily to scale and related elements may beomitted, or in some instances proportions may have been exaggerated, soas to emphasize and clearly illustrate the novel features describedherein. In addition, system components can be variously arranged, asknown in the art. Further, in the drawings, like reference numeralsdesignate corresponding parts throughout the several views.

FIG. 1a is a top plan view of a vehicle of the present disclosure.

FIG. 1b is a rear perspective view of the vehicle of FIG. 1 a.

FIG. 2 is a block diagram illustrating electronic components of thevehicle of FIG. 1 a.

FIG. 3 is a block diagram illustrating electronic components of a mobiledevice operatively connected to the vehicle of FIG. 1 a.

FIG. 4 is a flowchart of an example method of determining whether anoutside vehicle is V2X or standard.

FIG. 5 is a flowchart of an example method of transmitting informationto an outside vehicle.

FIG. 6 is a flowchart of an example method of coordinating acceleratingand deceleration across a group of vehicles with a traffic map and atraffic plan.

FIG. 7 is a flowchart of an example method of making drive adjustmentsin response to the traffic plan.

FIG. 8 is a top plan view of an example of vehicles participating in thetraffic plan.

FIGS. 9a and 9b are block diagrams showing two possible arrangements ofprograms of the present disclosure.

FIG. 10 is a flowchart of another example method of determining whetheran outside vehicle is V2X or standard. In some embodiments, theflowchart of FIG. 10 may substitute the flowchart of FIG. 4.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

While the invention may be embodied in various forms, there are shown inthe drawings, and will hereinafter be described, some exemplary andnon-limiting embodiments, with the understanding that the presentdisclosure is to be considered an exemplification of the invention andis not intended to limit the invention to the specific embodimentsillustrated.

In this application, the use of the disjunctive is intended to includethe conjunctive. The use of definite or indefinite articles is notintended to indicate cardinality. In particular, a reference to “the”object or “a” and “an” object is intended to denote also one of apossible plurality of such objects. Further, the conjunction “or” may beused to convey features that are simultaneously present instead ofmutually exclusive alternatives. In other words, the conjunction “or”should be understood to include “and/or”.

FIG. 1a shows vehicles 100 and 130 in accordance with one embodiment.The vehicles 100 and 130 may be the same or different. The vehicle 100may be a standard gasoline powered vehicle, a hybrid vehicle, anelectric vehicle, a fuel cell vehicle, or any other type of suitablevehicle. The vehicle 100 includes standard features (not shown) such asa dashboard, adjustable seats, one or more batteries, an engine ormotor, a transmission, an HVAC system including a compressor andelectronic expansion valve, a windshield, doors, windows, seatbelts,airbags, and tires.

It should be appreciated that the present disclosure generally refers tovehicle features directed to mechanically moving the vehicle suchsteering, acceleration, and deceleration, as “vehicle drive” or “drive”features or components. The present disclosure may refer to “outside”vehicles. Outside vehicles are vehicles external to a given vehicle,such as vehicle behind or “trailing” the given vehicle or vehicles infront of or “leading” the given vehicle. Vehicles directly in front ofor directly behind the given vehicle are generally referred to as“directly leading” or “directly trailing”. The present disclosure mayuse the term “internal” to describe properties or features of a specificvehicle, as opposed to outside vehicles. It should be appreciated thatthe term “internal sensors” includes all sensors mounted to the vehicle,including sensors that are mounted to an exterior of the vehicle.

It should further be appreciated that each vehicle exhibits vehiclecharacteristics and driving properties. Characteristics include fixed orconstant features of the vehicle, such as its acceleration capacity,braking capacity, V2X capability (explained below), size, weight.Properties refer to variable features of the vehicle, such as itsposition or location, speed, acceleration, decelerating, level of fuel,and current activity of its lights or horn. Properties may also includesome fixed features of the vehicle, such as its size, length, and width.It should be appreciated that the driver of each vehicle has certainpropensities. Propensities include reaction time, aggressiveness,passivity, and level of alertness.

Vehicle 100 may include sensors 102. The sensors 102 can be arranged inand around the car in a suitable fashion. The sensors can all be thesame or different. There can be many sensors, as shown in FIG. 1 b, oronly a single sensor. The sensors may include a camera, ultra-sonicsensors, sonar, LiDAR, radar, an optical sensor, or an infrared deviceconfigured to measure properties around the exterior of the vehicle, asindicated by the dashed lines 104 a and 104 b in FIG. 1 a. Some sensors102 may be mounted inside the passenger compartment of the vehicle 100,on the outside or exterior of the vehicle, or in the engine compartmentof the vehicle 100. At least one sensor 102 may be used to identify thevehicle's driver via facial recognition, speech recognition, orcommunication with a device, such as a vehicle key or mobile phonepersonal to the driver. The sensors may have an OFF state and various ONstates. The vehicle 100, or a device operatively connected to thevehicle, may be configured to control the states or activity of thesensors.

As shown in FIG. 2, in one embodiment, vehicle 100 includes a vehicledata bus 202 operatively coupled to the sensors 102, vehicle drivedevices 206, memory or data storage 208, a processor or controller 210,a user interface 212, communication devices 214, and a disk drive 216.

The processor or controller 210 may be any suitable processing device orset of processing devices such as, but not limited to: a microprocessor,a microcontroller-based platform, a suitable integrated circuit, or oneor more application-specific integrated circuits (ASICs).

The memory 208 may be volatile memory (e.g., RAM, which can includenon-volatile RAM, magnetic RAM, ferroelectric RAM, and any othersuitable forms); non-volatile memory (e.g., disk memory, FLASH memory,EPROMs, EEPROMs, memristor-based non-volatile solid-state memory, etc.);unalterable memory (e.g., EPROMs); read-only memory; a hard drive; asolid state hard drive; or a physical disk such as a DVD. In anembodiment, the memory includes multiple kinds of memory, particularlyvolatile memory add non-volatile memory.

The communication devices 214 may include a wired or wireless networkinterface to enable communication with an external network. The externalnetwork may be a collection of one or more networks, includingstandards-based networks (e.g., 2G, 3G, 4G, Universal MobileTelecommunications Autonomous valet parking system (UMTS), GSM (R)Association, Long Term Evolution (LTE) (TM), or more); WiMAX; Bluetooth;near field communication (NFC); WiFi (including 802.11 a/b/g/n/ac orothers); WiGig; Global Positioning System (GPS) networks; and othersavailable at the time of the filing of this application or that may bedeveloped in the future. Further, the external network(s) may be apublic network, such as the Internet; a private network, such as anintranet; or combinations thereof, and may utilize a variety ofnetworking protocols now available or later developed including, but notlimited to, TCP/IP-based networking protocols. The communication devices214 may also include a wired or wireless interface to enable directcommunication with an electronic device, such as a USB or Bluetoothinterface. A suitable network may also include a direct vehicle tovehicle network.

The user interface 212 may include any suitable input and outputdevices. The input devices enable a driver or a passenger of the vehicleto input modifications or updates to information referenced by thevarious programs as described herein. The input devices may include, forinstance, a control knob, an instrument panel, a keyboard, a scanner, adigital camera for image capture and/or visual command recognition, atouch screen, an audio input device (e.g., cabin microphone), buttons, amouse, or a touchpad. The output devices may include instrument clusteroutputs (e.g., dials, lighting devices), actuators, a display (e.g., aliquid crystal display (“LCD”), an organic light emitting diode(“OLED”), a flat panel display, a solid state display, a cathode raytube (“CRT”), or a heads-up display), and speakers.

The disk drive 216 is configured to receive a computer readable medium.In certain embodiments, the disk drive 216 receives thecomputer-readable medium on which one or more sets of instructions, suchas the software for operating the methods of the present disclosure canbe embedded. The instructions may embody one or more of the methods orlogic as described herein. In a particular embodiment, the instructionsmay reside completely, or at least partially, within any one or more ofthe main memory 208, the computer readable medium, and/or within theprocessor 210 during execution of the instructions.

The term “computer-readable medium” should be understood to include asingle medium or multiple media, such as a centralized or distributeddatabase, and/or associated caches and servers that store one or moresets of instructions. The term “computer-readable medium” also includesany tangible medium that is capable of storing, encoding or carrying aset of instructions for execution by a processor or that cause a systemto perform any one or more of the methods or operations disclosedherein.

It should be appreciated that the drive of vehicle 100 may be fullyautonomous, partially autonomous, or fully manual. In one embodiment,the vehicle 100 is partially autonomous in that it enables a driver tomanually steer, brake, and accelerate in normal circumstances butautonomously controls the vehicle drive, specifically the accelerationor the deceleration, in response to an emergency command.

In one embodiment, V2X software or program(s) 905 reside(s) in thememory 208 of the vehicle. 100 The V2X software 905 is configured tosend, receive, and evaluate information regarding the driving propertiesof other or outside vehicles. The V2X program 905 can send and receivedata to and from the sensors 102, the user interface 212, thecommunication devices 214, the drive 206, or any other componentoperatively connected to the vehicle data bus 202. This capability isreflected in the label “V2X”. “V” stands for vehicle, “2” stands for“to”, and “X” represents another electronic device such as a vehicle, amobile device, the Internet, a cloud, or any other suitable electronicdevice. It should be appreciated that vehicles operatively connected toa suitable V2X program 905 are referred to as “V2X vehicles” or “V2X”.

In one embodiment, V2X includes Dedicated Short Range Communications orDSRC, which is known in the technology. DSRC is a wireless communicationprotocol or system, mainly meant for transportation, operating in a 5.9GHz spectrum band. DSRC systems may be installed on vehicles and alongroadsides on infrastructure. DSRC systems incorporating infrastructureinformation is known as a “roadside” system. DSRC may be combined withother technologies, such as Global Position System (GPS), Visual LightCommunications (VLC), Cellular Communications (GPRS, 3G, LTE, amongothers), and short range radar, allowing vehicles to communicate theirposition, speed, heading, relative position to other objects and toexchange information with other vehicles or external computer systems.DSRC systems can be integrated with other systems such as mobile phones.Currently, the DSRC network is identified under the DSRC abbreviation orname. However, other names are sometimes used, usually related to aConnected Vehicle program or the like. More information on the DSRCnetwork and how the network may communicate with vehicle hardware andsoftware is available in the U.S. Department of Transportation's CoreJune 2011 System Requirements Specification (SyRS) report (available athttp://www.its.dot.gov/meetings/pdf/CoreSystem_SE_SyRS_RevA%20(2011-06-13).pdf),which is hereby incorporated by reference in its entirety along with allof the documents referenced on pages 11 to 14 of the SyRS report.

In one embodiment, the vehicle 130 does not include suitable V2X programor software. In other words, the vehicle 130 is a “standard” or“non-V2X” vehicle. In some embodiments, the vehicle 130 includesunsuitable V2X program that is (1) incompatible with the V2X program ofvehicle 100, (2) misconfigured, or (3) otherwise not operational withthe V2X program 905 of the present disclosure. In this case, the vehicle130 would also be referred to as “standard” or “non-V2X”.

It should be appreciated that other than an absent or misconfigured V2Xprogram, standard vehicles may include any or all of the features andcomponents of a V2X vehicle. In general, standard vehicles, unlessotherwise noted, may be fully operational and safe vehicles.

It should thus be appreciated that the present disclosure contemplatesat least two types of vehicles: (1) V2X vehicles, such as vehicle 100and (2) standard or non-V2X vehicles, such as vehicle 130.

In one embodiment, a computing device 105 is operatively connected tothe vehicle 100 via any suitable data connection such as WiFi,Bluetooth, USB, or a cellular data connection. In one embodiment, shownin FIG. 3, the computing device 105 includes a data bus 302, operativelycoupled to sensors 306, components 316, memory or data storage 308, aprocessor or controller 310, a user interface 312, and communicationdevices 314. It should be appreciated that the electronic features ofthe computing device 105 may be similar to the features of the vehicle100 as described above. For example, the communication devices 314 ofthe computing device 105 may operate similar to the communicationdevices 214 of the vehicle 100. The same applies to the user interface312, the sensors 306, the data storage 308, the processor 310, and thedisk drive 318. It should be appreciated that the present disclosure mayinclude multiple different computing devices 105. For example, onecomputing device 105 may be a smart phone, while another computingdevice 105 is a server connected to the Internet.

As shown in FIGS. 9a and 9b , in various embodiments the vehicle 100 orthe computing device 105 store software programs, and specifically, V2Xprograms in the memory 208, 308, or in the computer readable medium forexecution by processor 210 or 310. Upon execution, the programs enablethe vehicle 100 or the mobile phone 105 to transmit and receiveinformation to and from any components operatively connected to theprocessors 210, 310, including remote devices operatively connected tothe processors 210, 310 via communication devices 214, 314. In oneembodiment, shown in FIG. 9a , the V2X vehicle includes a markingprogram 910 for performing method 400, a reaction program 915 forperforming method 500, and an implementation program 925 for performingmethod 700. In the same embodiment, the computing device includes aplanning program 920 for implementing method 600. FIG. 9b illustratesthat in one embodiment, all of the programs reside in the vehicle memory208.

It should thus be appreciated that any program may be stored in thevehicle 100, the computing device 105, or an external computer (notshown) operatively connected to the vehicle 100 or the computing device105. It should be appreciated that any program may be executed on aprocessor remote from the device. For example, the computing device 105may store programs that are ultimately executed on the vehicle processor210.

Referring now to FIG. 4, an example method 400 of applying the markingprogram 910 to mark or identify outside vehicles as V2X or standard isshown.

In step 401, the marking program 910 detects an outside object withsensors 102 mounted on the present vehicle. As mentioned above, invarious embodiments, the sensors use sonar, radar, lidar, or a camera,or any other object detecting sensor, including an optical sensor, tosense or detect the object. Upon detection, the marking program 910 runsthe object through a filtering program or algorithm to determine whetherthe object is a non-vehicle object or an outside vehicle. Suitablefiltering programs are known in the art.

When the object is an outside or external vehicle, the marking program910 proceeds to at least one of steps 402 and 403. In step 402, themarking program 910 sends a communication or “ping” to the outsidevehicle. The ping may be sent directly to the outside vehicle or may bere-directed through an external server such as the Internet or a cloudbased computing service. If the outside vehicle is V2X (i.e., V2Xenabled), then the outside vehicle affirmatively replies to the ping.

Alternatively, or in addition, in step 403, the marking program 910compares a detected location of the outside vehicle with a knownlocation of V2X vehicles recorded on a map or database. If the detectedlocation and the recorded location match within predetermined bounds orlimits, the marking program 910 marks the outside vehicle as V2X. Insome embodiments, the marking program 910 skips step 403 when theoutside vehicle affirmatively responded to the ping in step 402 and theoutside vehicle is outside the detection area of the local vehiclesensors.

It should be appreciated that in some embodiments, the marking program910 requires an affirmative or positive response to both steps 402 and403 before marking the vehicle as V2X in step 404. If the outsidevehicle fails one or both of steps 402 and 403, then the marking program910 marks the vehicle as standard in step 404.

When the outside vehicle is V2X, the marking program 910 stores thisinformation in memory, for use in other programs including the reactionprogram 915, the planning program 920, and the implementation program925. More specifically, when the outside vehicle is V2X (i.e., V2Xenabled), the programs may download, or at least attempt to download,driving properties and vehicle characteristics of the outside vehiclevia a communication device in step 405. In some embodiments, if thedownload fails, then the marking program 910 marks the outside vehicleas standard.

When the outside vehicle is standard, the marking program 910 storesthis status in memory, also for use in the programs. More specifically,when the outside vehicle is standard, the programs measure the drivingproperties and vehicle characteristics of the outside vehicle with theinternal vehicle sensors 102 in step 406.

As shown in FIG. 4, the marking program 910 may be perpetually orcontinuously executed (i.e., repeated or cycled) at a predeterminedfrequency. The predetermined frequency may vary in light of the drivingproperties of the vehicle 100 and driving properties of leading andtrailing vehicles.

Turning now to FIG. 5, an example method 500 of reacting to outsidevehicles with the reaction program 915 or software 915 is generallyshown.

In step 501, the reaction program 915 senses the driving properties ofthe present vehicle 100 via information received from internal sensors102 of the vehicle 100. Such information may include received GPSsignals. In step 502, the reaction program 915 compares the drivingproperties of the present vehicle 100 with the driving properties of anoutside directly leading vehicle and an outside directly trailingvehicle. As discussed above, the marking program 910 may have alreadystored these statuses in memory and thus the reaction program 915, insome embodiments, simply queries or accesses this information.

In step 502, a range of calculations, predictions, and projections canbe executed or performed. In one embodiment, the reaction program 915determines whether the directly leading vehicle has a safe or suitablebuffer space from the present vehicle 100. The buffer space can bedefined in terms of distance (e.g., 20 feet between vehicles) or time(e.g. 3 seconds between vehicles given the speed or velocityrelationship of the vehicles).

To determine the suitable buffer space, the reaction program 915 mayevaluate one or more of the speeds of the vehicles (i.e., one or more ofthe present vehicle 100, the directly leading vehicle, and the directlytrailing vehicle), the positions or locations of the vehicles, thedistance between the present vehicle 100 and the directly leadingvehicle, the driving properties and vehicle characteristics of thevehicles, the stopping or braking capacity of the vehicles, theacceleration capacities of the vehicles, the fuel or energy level of thevehicles, the specific configuration of the V2X programs installed onthe vehicles, and the propensities of the drivers of the vehicles. Invarious embodiments, the reaction program 915 also factors incorresponding features of the directly trailing vehicle and associateddriver. In various embodiments, the reaction program 915 exclusivelydetermines the buffer space in light of the present vehicle 100 and thedirectly leading vehicle, without considering the directly trailingvehicle.

If the directly leading vehicle is V2X, reaction program 915 sends anelectronic communication or instruction to the directly leading vehicle.The communication or instruction may be an acceleration or brakingcommand if the directly leading vehicle is fully or partiallyautonomous, a display or sound command, or simply an information resultof the evaluation for further use by the directly leading vehicle. Insome embodiments, the reaction program 915 sends no communication orinstruction to the directly leading vehicle in response to a positive orsafe evaluation.

It should be appreciated that the reaction program 915 performs similarand corresponding operations with respect to the directly trailingvehicle.

If the directly leading vehicle is standard, upon evaluation of theabove factors, the reaction program 915 may instruct the vehicle 100 tosend a visual or audio cue toward the directly leading vehicle, andspecifically toward the driver of the directly leading vehicle. Thevisual or audio cue may include one or more of a light, a specific lightflashing pattern, a specific color or combination of lights, a shape oflights, a specific grid of lights, a curve of lights, multiple movingcurves of lights, a specific intensity of light, a sound such as a soundgenerated by the horn of the vehicle 100, a pattern of sounds, a certainfrequency of sound, and a certain intensity of sound. It should beunderstood that these kinds of cues apply to the other methods andprograms disclosed herein, especially in relation to cues directed tooutside standard vehicles. It should be appreciated that the selectedcues may depend on the driving properties of the vehicle 100, thedriving properties of the directly leading vehicle, and the drivingproperties of the directly trailing vehicle. In some embodiments, thecues for the directly leading vehicle at least partially depend on thedriving properties and vehicle characteristics of the directly trailingvehicle.

Prior to generating these cues, the reaction program 915 may evaluatethe cues in light of downloaded legal requirements of the presentjurisdiction of the present vehicle. For example, some jurisdictions mayforbid a vehicle from cueing with an intense blue light.

It should be appreciated that the reaction program 915 performs similarand corresponding operations with respect to the directly trailingvehicle.

In step 505, the reaction program 915 instructs the vehicle 100 toadjust (or in some cases, hold constant) current driving properties.

The method 500 of the reaction program 915 is cycled or repeated at acontinuous and predetermined frequency. In some embodiments, thefrequency of the method 500 as applied to the directly leading vehicledepends on one or more of the speed of the directly leading vehicle, theposition or location of the directly leading vehicle, the distancebetween the present vehicle 100 and the directly leading vehicle, thestopping or braking capacity of the directly leading vehicle, thealertness of the driver of the directly leading vehicle, theacceleration capacity of the directly leading vehicle, the fuel orenergy level of the directly leading vehicle, whether the vehicle is V2Xor standard, the specific properties of the V2X program installed on thedirectly leading vehicle, the driving properties of the directly leadingvehicle, the propensities of the driver of the directly leading vehicle,the vehicle characteristics of the directly leading vehicle, and similaror corresponding features of the directly trailing vehicle and itsdriver.

Similarly, in some embodiments, the frequency of the method 500 asapplied to the directly trailing vehicle depends on the same, similar,or corresponding properties of the directly trailing vehicle and thedirectly leading vehicle. In some embodiments, the frequency of themethod 500 as applied to the directly leading vehicle can be differentthan the frequency of the method 500 as applied to the directly trailingvehicle.

It should be appreciated that the above method has been disclosed toinclude, in various embodiments, capturing data from a directly leadingvehicle, then sending a signal or cue to the directly trailing vehiclebased on data related to the present vehicle and the directly leadingvehicle.

Referring now to FIG. 6, an example method 600 of building a traffic mapto generate a traffic plan with a planning program 920 is generallyshown and illustrated. In step 601 the planning program 920 downloadsdriving properties and vehicle characteristics of V2X vehicles within apredetermined area. In one embodiment, the predetermined area is aradius around the vehicle 100. In another embodiment, the predeterminedarea is a fixed zone or area encompassing a lane of a street, adirection of a street, a street, a town, a city, a county, a state, acountry, or a continent. In another embodiment, the predetermined areais dynamically calculated by comparing measured or received values withcriteria. The values may include a traffic density, a population densityor a number of vehicles within the proposed map. In one embodiment, thepredetermined area is a group of vehicles defined between a leading gapor absence of traffic and a trailing gap or absence of traffic, such asthe example group of vehicles generally shown in FIG. 8. It should beappreciated that the program may be configured to generate many trafficmaps that include overlapping predetermined areas.

The planning program 920 is configured to populate the traffic map withthe locations, driving properties, and vehicle characteristics of V2Xvehicles within the predetermined area. To accomplish this, the planningprogram 920 downloads the driving properties and vehicle characteristicsof V2X vehicles in step 601. The V2X vehicles may periodically confirmtheir location with the planning program 920 (or a program operativelycoupled or linked to the planning program 920) at a predeterminedfrequency. The predetermined frequency may be fixed or may depend on thedriving properties and vehicle characteristics of the vehicle or outsidevehicles.

The planning program 920 is also configured to populate the map with thelocations and driving properties of standard or non-V2X vehicles as instep 602. To accomplish this, the planning program 920 may assembleinformation collected by V2X vehicles about standard vehicles whileperforming marking program 910 or reaction program 915. Alternatively orin addition, the planning program 920 may assemble information collectedfrom other sources, such as sensor installed in a fixture 850, sensorsmounted on an aerial unit such as a drone or helicopter, and sensorsinstalled on mobile devices such as cellular or smart phones. In variousembodiments, the planning program 920 instructs V2X vehicles to collectinformation about a specific area or a specific standard vehicle.

Once the planning program 920 has downloaded information about thevehicles in the area, the planning program 920 may build a traffic map,as in step 603. The traffic map may include the driving properties andthe vehicle characteristics of each vehicle, V2X and standard. Thetraffic map may include further details such as terrain of the roads,conditions of the roads, weather, the identity of specific drivers,known or expected problem areas such as sharp bends in the road orconstruction areas, and any other details typically associated with asuitable virtual road or street map. In various embodiments, the trafficmap includes propensities of the drivers.

In step 604, the planning program 920 may identify gaps or portions ofthe map with insufficient or inadequate data. These gaps may be theresult of standard vehicles being grouped together. In some cases, thegaps may be the result of empty or unoccupied roads. The gaps arefurther explained below with reference to FIG. 8.

In step 605, the planning program 920 fills in the gaps by applying asuitable model. The model may take various factors into account such asone or more of the population density of the area, the time of day, theday, the month, the weather, and traffic trends in the area given any orall of the time, day, year or weather. In some embodiments, the planningprogram 920 skips step 605, and simply generates the traffic plan instep 606 in light of the gaps.

Once the planning program 920 has applied the model in step 605, theplanning program 920 may generate a traffic plan for some or all of thevehicles in the predetermined area in step 606. The traffic plan mayinclude some or all of any attribute or property related to drivingproperties, including acceleration, and deceleration or braking. In oneembodiment, the traffic plan only includes a braking or decelerationplan. In another embodiment, the traffic plan includes both anacceleration plan and a braking or deceleration plan. The traffic planmay be generated in light of various priorities, such as safety, fuelefficiency, and speed or flow of traffic. In one embodiment, the trafficplan is exclusively concerned with safety, and more specifically,avoiding or at least minimizing, collisions between vehicles. In oneembodiment, the traffic plan is exclusively concerned with avoiding, orat least minimizing, collisions between vehicles in the same lane oftraffic in the predetermined area. In various embodiments, the trafficplan takes the quality (i.e., the latency, signal strength, and speed)of the V2X vehicles' data connections into account when generating thetraffic plan.

In one embodiment, the planning program 920 uses the traffic map topredict or project collisions between vehicles in the same lane oftraffic in the predetermined area. The planning program 920 applies thetraffic map to predict the probability of a crash or collision betweenany two vehicles. More specifically, in various embodiments, theplanning program 920 projects each vehicle's time to start braking andcorresponding necessary braking rate in order to avoid a collision byfactoring in the driving properties, the vehicle characteristics, andthe driver propensities associated with each vehicle. The planningprogram 920 compares the projected corresponding necessary braking rateto various precalibrated thresholds to determine the magnitude orprobability of a collision. The precalibrated thresholds can vary withone or more of vehicle characteristics, driving properties, driverpropensities, and external conditions such as time of day or weather.The planning program 920 may assess urgency based on the magnitude orthe probability of a collision.

The planning program 920 generates the traffic plan to eliminate (or atleast minimize or optimize) collisions between vehicles. In thisembodiment, the planning program 920 generates the traffic plan in lightof the driving properties of each vehicle, including its internal speed,location, acceleration or deceleration, the characteristics of eachvehicle, the driving propensities or styles of the various drivers,whether an individual vehicles is standard or V2X, and if a vehicle isV2X, whether the vehicle autonomously responds to commands or whether itsimply displays information to a driver. The traffic plan may factor ina projected chain of driving events expected to occur in light of theplan.

In one embodiment, the planning program 920 assumes that V2X vehicleswill respond to or implement the plan faster than standard vehicles. Inone embodiment, the planning program 920 factors in the quality of thedata connection between the planning program 920 and the V2X vehicles inprojecting the speed with which the vehicles, including V2X vehicles andstandard vehicles, will respond to or implement the plan. In someembodiments, the planning program 920 factors in the size and locationof gaps in generating the traffic plan. In various embodiments, theplanning program 920 orders instructions or communications (i.e., sendscommunications to a specific vehicle first) sent to the V2X vehiclesaccording to collision urgency and quality of data connection.

Once the traffic plan has been generated, the planning program 920 sendssuitable portions of the traffic plan to V2X vehicles involved in thetraffic plan in step 607. The degree or amount of information sent tovarious V2X vehicles may, in some embodiments, be determined by thequality of the data connection between the planning program 920 and aspecific V2X vehicle. The degree or amount of information sent tovarious V2X vehicles may, in some embodiments, depend on the ordering ofthe communications and the urgency.

In one embodiment, a portion or segment of the traffic plan sent to aparticular V2X vehicle includes one or all of (a) instructions onwhether and how much the particular vehicle should accelerate, brake, orhold steady; (b) the probability of the particular vehicle experiencingan imminent collision or a rapid deceleration; and (c) instructions onwhether and how much the vehicles directly leading and directly trailingthe particular vehicle should accelerate, brake, or hold steady.

It should be appreciated that although the method 600 of the planningprogram 920 is shown as sequential in FIG. 6, this need not be the case.More specifically, steps 601, 602, 603, 605, and 605 may be a singlecycling or constantly repeating algorithm and steps 606 and 607 may bedifferent single cycling or constantly repeating algorithm.

Turning now to FIG. 7, an example method 700 of an implementationprogram is generally shown and illustrated. In step 701, a particularV2X vehicle, such as vehicle 100, receives the traffic plan or at leasta portion or segment of the traffic plan generated in step 607 of FIG.6.

In step 702 the vehicle 100 takes action in light of the traffic plan.The vehicle 100 evaluates whether the traffic plan requires urgent,autonomous (if applicable) action from the vehicle 100. This could bethe case, for example, when a collision is predicted to happen in lesstime than a normal driver can react to a cue. If the traffic planrequires urgent, autonomous action, and the vehicle 100 is suitablyequipped, then the vehicle 100 takes such action. If the vehicle is notsuitably equipped or the plan does not require urgent action, then thevehicle 100 may display an internal cue to the driver, such as a visualor audio alert. The alert may direct the driver to accelerate or brake.The kind or magnitude of the alert or cue may depend on the urgency ofthe required action.

Simultaneously, in step 703, the vehicle may direct a cue to standardvehicles. Cueing is discussed above in relation to method 500.

Turning now to FIG. 8, one example implementation of the methods 600 and700 is generally shown and illustrated. Vehicles 801, 804, and 805 areV2X (i.e., V2X enabled). Vehicles 802, 803, 806, 807, and 808 arestandard (i.e., non-V2X). Fixture 850 is configured with sensors thatmeasure traffic and driving properties. A server 851 and the fixture 850may be computing devices 105.

The V2X vehicles 801, 804, and 805 may periodically communicate with theexternal server 851. More specifically, the V2X vehicles periodicallycheck-in or exchange updates the server 851 in steps 601 and 602. Asshown in step 601, the status updates include the driving properties andvehicle characteristics of the V2X vehicles. As shown in step 602, thestatus updates also include the driving properties and vehiclecharacteristics of at least some of the standard vehicles. Morespecifically, V2X vehicle 804 measures and transmits the drivingproperties and vehicle characteristics of standard vehicles 802 and 806.V2X vehicle 805 measures and transmits the driving statutes of standardvehicles 803 and 807. V2X vehicle 801 measures and transmits the drivingproperties and vehicle characteristics of standard vehicle 803. Thefixture 850 also measures and transmits the driving properties andvehicle characteristics of standard vehicle 803. Note that standardvehicle 808 has not been sensed.

In step 603, the planning program 920 builds the traffic map or databaseincluding the driving properties and vehicle characteristics of eachidentified car, standard and V2X. In step 604, the planning program 920locates the gaps or voids of information. Here, the planning program 920may identify gaps 820, 821, and 822.

Gap 820 is the absence of information about a potential vehicle in frontof standard vehicle 802. In some embodiments, V2X vehicles may beconfigured to sense driving properties in 360 degrees, and thus gap 820would not exist.

Gap 821 is the absence of information about a potential vehicle behindstandard vehicle 806. Gap 822 is the absence of information about apotential vehicle behind standard vehicle 807. Note that in thisspecific example, a standard vehicle 808 occupies gap 822.

In step 605, the planning program 920 applies the model to gaps 820,821, and 822 to predict or project whether (or the probability of)standard vehicles, such as standard vehicle 808, occupies one of thegaps 820, 821, and 822.

In step 606, the planning program 920 generates the traffic plan for thevehicles 801 to 808 of FIG. 8. The traffic plan may take into accountthe driving properties of each vehicle, the vehicle characteristics ofeach vehicle, the propensities of known drivers, the number and locationof gaps, the results (if any) of the model, properties of the road,properties of the terrain, weather, time, day, and other factors orproperties. The traffic plan may account for expected or projectedchanges in driving properties (and the timing thereof) given the kindsof instructions and the sequencing of the instructions in the trafficplan.

In step 607, the planning program 920 sends the instructions or piecesof the traffic plan to V2X vehicles 801, 804, and 805. Each piece mayinclude instructions for controlling the driving properties of thespecific V2X vehicle, as in step 702, in addition to instructions forsignaling or cueing the surrounding standard vehicles, as in step 803.For example, if the planning program 920 projected a collision betweenvehicles 801 and 803 or a rapid deceleration, the program may instructvehicle 805 to decelerate in step 702. In addition, the program mayinstruct vehicle 805 to preemptively signal or cue with sound or lightsto vehicle 807 to also decelerate, in order to avoid rear-ending vehicle805 in step 703.

In various embodiments, the planning program 920 factors in a number ofvehicles intermediate two particular vehicles in generating the trafficplan. More specifically, the planning program 920 may assume that as thenumber of intermediate vehicles increases, the probability of one of theintermediate cars insufficiently braking (or insufficiently braking thenovercompensating with rapid braking) increases. In such a case, theplanning program 920 may instruct one or more of the vehicles topreemptively brake in anticipation of insufficient braking from aleading vehicle.

It should be appreciated that the above disclosure includes variousembodiments where the planning program 920 factors in the speed of adirectly leading vehicle and a buffer distance of a directly trailingvehicle. As an example, in these embodiments, the planning program 920may base deceleration of vehicle 805 on the deceleration of vehicle 803and the buffer between vehicle 805 and vehicle 807. In theseembodiments, if the buffer distance between vehicle 805 and vehicle 807is small, the planning program 920 may instruct vehicle 805 to apply alower magnitude of braking than if the buffer distance between vehicle805 and vehicle 807 was large.

The planning program 920 may instruct vehicle 801 to speed up oraccelerate in order to avoid collision with vehicle 803. In addition,the planning program 920 may instruct vehicle 801 and vehicle 805 topreemptively signal or cue to vehicle 803 to slow down or decelerate.

It should be appreciated that the above methods, and specifically,methods 400, 500, 600, and 700 may be configured to mark, assess,evaluate, and cue pedestrians, animals (collectively referred to aspedestrians unless otherwise noted), and fixed objects or obstructions.

For example, method 400 may include identifying an object near a road asa pedestrian, an animal, or a fixed object. The method 400 may measureproperties of the object such as the object's position, size, speed,acceleration or deceleration.

Method 500 may include comparing internal driving properties with theproperties of the object in light of the kind of object (e.g., human,animal, or inanimate) in step 502, cueing the object (if human oranimal) if appropriate, and adjusting internal driving properties of thevehicle 100 in light of the properties of the object.

Similar material applies to methods 600 and 700. More specifically,method 600 may factor in objects when building the map and whengenerating the plan. Method 700, similar to method 400, may includeadjusting internal driving properties of the vehicle 100 in light of theobjects in step 702 and may include a step for cueing humans or animals.

It should be appreciated that method 400 may take the form of method1000. In some embodiments, above disclosure relating to method 400 alsoapplies to method 1000. Method 1000 is similar to method 400 andincludes extra steps related to assigning confidences to measurements ofstandard (i.e., non-V2X) vehicles.

In step 1001, the method 1000, implemented via the marking program 910,detects an outside vehicle using internal vehicle sensors orcommunication devices. As mentioned above, in various embodiments, thesensors use sonar, radar, lidar, or a camera, or any other objectdetecting sensor, including an optical sensor, to sense or detect theobject. Upon detection, the marking program 910 runs the object througha filtering program or algorithm to determine whether the object is anon-vehicle object or an outside vehicle. Suitable filtering programsare known in the art. Alternatively, the method may detect an outsidevehicle via a communication or broadcast from the outside vehicle.

In some embodiments, when the object is an outside or external vehicle,the marking program 910 proceeds to at least one of steps 1002 and 1003.In step 1002, the marking program 910 sends a communication or “ping” tothe outside vehicle. The ping may be sent directly to the outsidevehicle or may be re-directed through an external server such as theInternet or a cloud based computing service. If the outside vehicle isV2X (i.e., V2X enabled), then the outside vehicle affirmatively repliesto the ping.

Alternatively, or in addition, in step 1003, the marking program 910compares a detected location of the outside vehicle with a knownlocation of V2X vehicles recorded on a map or database. In someembodiments, the outside vehicle passively broadcasts its location tosurrounding vehicles. If the detected location and the recorded locationmatch within predetermined bounds or limits, the marking program 910marks the outside vehicle as V2X. If the marking program 910 detectedthe outside vehicle via a communication device, then the marking program910 may skip step 1003.

In step 1004, the marking program 910 marks the outside vehicle as V2Xor standard in light of steps 1002 and 1003.

When the outside vehicle is V2X, the marking program 910 stores thisinformation in memory, for use in other programs including the reactionprogram 915, the planning program 920, and the implementation program925. More specifically, when the outside vehicle is V2X (i.e., V2Xenabled), the programs may download, or at least attempt to download,driving properties and vehicle characteristics of the outside vehiclevia a communication device in step 1005. In some embodiments, if thedownload fails, then the marking program 910 marks the outside vehicleas standard.

When the outside vehicle is standard, the marking program 910 storesthis status in memory, also for use in the programs. More specifically,when the outside vehicle is standard, the marking program 910 measuresthe driving properties and vehicle characteristics of the outsidevehicle with the internal vehicle sensors 102 in step 1006.

In step 1007, the marking program 910 assigns confidences to themeasurements and the determined properties. The confidences flow fromone or more filtering programs that receive and evaluate the results ofthe internal vehicle sensors. If the internal vehicle sensor is a lidarsensor, for example, the filtering program may assess the measurementfor signs of ambient interference through rain, snow, light, or dust.The filtering program may generate a confidence based on a predeterminedrelationship between confidence and ambient interference. The filteringprogram may further determine which portion of the sensor (e.g., centeror periphery) recorded the measurement and assign a greater confidenceto measurements made near the middle of the sensor field thanmeasurements made near the periphery of the sensor field.

If the internal vehicle sensor is a camera, for example, the filteringprogram may run a classifier that classifies objects recorded in theimage. Suitable image classifiers are known in the art and disclosed,for example, in U.S. Pat. No. 8,351,712, which is hereby incorporated byreference in its entirety. A suitable classifier will assign aconfidence to each object classification. The filtering program mayextract the confidence assigned to any objects classified as a vehicle.

The marking program 910 assigns a confidence to the properties in step1007. In some cases, a property may be based on a plurality ofmeasurements (e.g., velocity) and therefore the confidence of eachmeasurement contributes to the confidence of the property. Afterassigning a confidence to the properties, the marking program 910compares the assigned confidences of the properties to predeterminedminimum confidence levels, which can be preset or dynamically calculatedaccording to a formula. In some cases, minimum confidence levels ofcrucial properties, such as velocity, require a greater confidence levelthan collateral properties, such as vehicle length or weight. Therefore,the minimum confidence levels of the properties may vary according tothe property.

When one or more confidence levels fall below their respective minimumthresholds, the marking program 910 may identify V2X vehicles inposition to contribute supplemental, confirming measurements in step1008. In some embodiments, this means the marking program 910 only sendsa contribution request to V2X vehicles with a predetermined orcalculated distance range of the standard vehicle. The marking program910 may identify suitable V2X vehicles by analyzing the properties ofthe V2X vehicles received in step 1005.

Thereafter, the marking program 910, in step 1009, issues a command tothe identified V2X vehicles for supplemental and confirmingmeasurements. The identified V2X vehicles reply with the supplementalmeasurements and confidences associated with the supplementalmeasurements. In some cases, the marking program 910 may only transmitthe request to a portion of the identified V2X vehicles meetingpredetermined criteria. In some embodiments, the number of the portiondepends on the kind of property to be measured (e.g., a crucial propertysuch as velocity is assigned to more vehicles than a collateral propertysuch as weight or length). The identified V2X vehicles may perform newmeasurements to comply with the issued command or may recall andtransmit old measurements, if the old measurements meet a predeterminedage threshold.

In step 1010, the vehicle receives and processes the supplementalmeasurements according to predetermined algorithms and returns to step1007. If the supplemental measurements confirm the originalmeasurements, then the vehicle increases the confidence associated withthe properties of the standard vehicle. If the supplemental measurementssubstantially diverge from the original measurements, then the vehiclelowers the confidence of the properties associated with the standardvehicle. This process may cycle until all properties associated with astandard vehicle meet or exceed the predetermined confidence thresholds,until a time limit elapses, or the standard falls outside of apredetermined range.

It should be appreciated that the method 1000 of the marking program 910may be simultaneously performed for a plurality of separate and distinctvehicles. It should further be appreciated that the method 1000 maycontinuously cycle and repeat for each identified vehicle. In somecases, steps 1001 to 1004 cycle at a slower rate than steps 1005 to1010. More specifically, steps 1001 to 1004 may be a separate anddistinct subprogram from steps 1005 to 1010. In some cases, vehiclesmarked as V2X retain their marking until the vehicle is no longer ableto download their driving properties in step 1005, wherein the vehiclesare now automatically marked as standard, implicating steps 1006 to1010.

It should be appreciated that when any of the above methods transmitdata to a vehicle, the data may be in the form of an instruction. Asdiscussed above, an instruction may be a command or may be a set of datafor the recipient car to evaluate. The command may a command to adjustdriving properties (e.g., slow down, speed up, increase or decreasebuffer distance, turn on vehicle lights in a specific arrangement) ormay be a command to display an option to the driver.

The above-described embodiments, and particularly any “preferred”embodiments, are possible examples of implementations and merely setforth for a clear understanding of the principles of the invention. Manyvariations and modifications may be made to the above-describedembodiment(s) without substantially departing from the spirit andprinciples of the techniques described herein. All modifications areintended to be included herein within the scope of this disclosure andprotected by the following claims.

1. A system for marking vehicles comprising: a vehicle comprisingsensors, an accelerator, brakes, a processor, and memory; a markingprogram configured to: mark an outside vehicle as V2X or standard,measure position of a marked standard vehicle, assign a confidence tothe measured position, compare the confidence to a threshold, transmit,based on the comparison, a supplemental position measurement request toan outside V2X vehicle.
 2. The system of claim 1, wherein the markingprogram is configured to: receive the supplemental position measurementfrom the outside V2X vehicle, and update the confidence of the originalmeasured position in light of the supplemental position measurement. 3.The system of claim 1, wherein the marking program is configured to onlytransmit the request to V2X vehicles within a predetermined distancerange of the standard vehicle.
 4. The system of claim 3, wherein themarking program is configured to identify V2X vehicles in thepredetermined distance range with reference to previously downloadedproperties of V2X vehicles.
 5. The system of claim 3, wherein themarking program is configured to build a list of V2X vehicles within thepredetermined distance range, then select only one vehicle from the listbased on predetermined criteria.
 6. The system of claim 5, wherein themarking program is configured to select a plurality of V2X vehicles fromthe list, the selection number depending on the kind of property to bemeasured of the standard vehicle.
 7. The system of claim 1, wherein themarking program is configured to measure velocity of a marked standardvehicle based on a plurality of individual measurements and to assign aconfidence to the measured velocity based a confidence of each of theplurality of individual measurements.
 8. The system of claim 1,comprising a reaction program configured to transmit electronicinstructions to a V2X vehicle and to only send visual cues to a standardvehicle, the electronic instructions and the visual cues based on acomparison of properties of the vehicle versus properties of the sensedvehicle.
 9. The system of claim 1, further comprising a planning programconfigured to build a traffic database by downloading driving propertiesof V2X vehicles and standard vehicles from V2X vehicles.
 10. The systemof claim 9, wherein the planning program is configured to generate atraffic plan that includes vehicle braking rates for avoiding a trafficcollision.
 11. A method of marking vehicles using a vehicle havingsensors, an accelerator, brakes, a processor, and memory, comprising:with a marking program running on the processor: marking an outsidevehicle as V2X or standard, measuring position of a marked standardvehicle, assigning a confidence to the measured position, comparing theconfidence to a threshold, transmitting, based on the comparison, asupplemental position measurement request to an outside V2X vehicle. 12.The method of claim 11, wherein the marking program is configured to:receive the supplemental position measurement from the outside V2Xvehicle, and update the confidence of the original measured position inlight of the supplemental position measurement.
 13. The method of claim12, wherein the marking program is configured to only transmit therequest to V2X vehicles within a predetermined distance range of thestandard vehicle.
 14. The method of claim 13, wherein the markingprogram is configured to identify V2X vehicles in the predetermineddistance range with reference to previously downloaded properties of V2Xvehicles.
 15. The method of claim 13, wherein the marking program isconfigured to build a list of V2X vehicles within the predetermineddistance range, then select only one vehicle from the list based onpredetermined criteria.
 16. The method of claim 15, wherein the markingprogram is configured to select a plurality of V2X vehicles from thelist, the selection number depending on the kind of property to bemeasured of the standard vehicle.
 17. The method of claim 11, whereinthe marking program is configured to measure velocity of a markedstandard vehicle based on a plurality of individual measurements and toassign a confidence to the measured velocity based a confidence of eachof the plurality of individual measurements.
 18. The method of claim 11,comprising: executing a reaction program configured to transmitelectronic instructions to a V2X vehicle and to only send visual cues toa standard vehicle, the electronic instructions and the visual cuesbased on a comparison of properties of the vehicle versus properties ofthe sensed vehicle.
 19. The method of claim 11, further comprising:executing a planning program configured to build a traffic database bydownloading driving properties of V2X vehicles and standard vehiclesfrom V2X vehicles.
 20. The method of claim 19, wherein the planningprogram is configured to generate a traffic plan that includes vehiclebraking rates for avoiding a traffic collision.